PointCloudRangeImageCreator.h

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#ifndef DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_
#define DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_

#include <dw/core/base/Types.h>
#include <dw/core/context/Context.h>
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>
#include <dw/image/Image.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwPointCloudRangeImageCreatorObject* dwPointCloudRangeImageCreatorHandle_t;
typedef const struct dwPointCloudRangeImageCreatorObject* dwConstPointCloudRangeImageCreatorHandle_t;

typedef enum {
    DW_POINT_CLOUD_IMAGE_TYPE_DISTANCE  = 0, 
    DW_POINT_CLOUD_IMAGE_TYPE_INTENSITY = 1, 
    DW_POINT_CLOUD_IMAGE_TYPE_2D_GRID   = 2, 
} dwPointCloudRangeImageType;

typedef struct
{
    float32_t farDist;  
    float32_t nearDist; 

    float32_t minElevationRadians; 
    float32_t maxElevationRadians; 
    float32_t minAzimuthRadians;   
    float32_t maxAzimuthRadians;   

    dwOrientedBoundingBox3f orientedBoundingBox; 
} dwPointCloudRangeImageClippingParams;

typedef struct
{
    dwMemoryType memoryType;                             
    uint32_t maxInputPoints;                             
    uint32_t width;                                      
    uint32_t height;                                     
    dwPointCloudRangeImageType type;                     
    dwTransformation3f transformation;                   
    dwPointCloudRangeImageClippingParams clippingParams; 
} dwPointCloudRangeImageCreatorParams;

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_initialize(dwPointCloudRangeImageCreatorHandle_t* obj,
                                                  const dwPointCloudRangeImageCreatorParams* params,
                                                  dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_reset(dwPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_release(dwPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_getDefaultParams(dwPointCloudRangeImageCreatorParams* params);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_getCUDAStream(cudaStream_t* stream,
                                                     dwConstPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_setCUDAStream(cudaStream_t stream,
                                                     dwPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_getImageProperties(dwImageProperties* imageProperties,
                                                          dwConstPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_bindInput(const dwPointCloud* pointCloud,
                                                 dwPointCloudRangeImageCreatorHandle_t obj);
DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_bindOutput(dwImageHandle_t image,
                                                  dwPointCloudRangeImageCreatorHandle_t obj);
DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_bindOutputPointCloud(dwPointCloud* pointCloud,
                                                            dwPointCloudRangeImageCreatorHandle_t obj);

DW_API_PUBLIC
dwStatus dwPointCloudRangeImageCreator_process(dwPointCloudRangeImageCreatorHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_POINTCLOUDPROCESSING_POINTCLOUDRANGEIMAGECREATOR_H_